A Two Degrees of Freedom PID Control System, its Features and Applications

1. National Taiwan Ocean University Department of Communications, Navigation and Control Engineering A Two Degrees of Freedom PID Control System, its Features and Applications Masanori Yukitomo, Takashi Shigemasa , Yasushi Baba, Fumio Kojima Speaker：林湧傑 ID：19967042 Date：11/17/2010

2. Outline • Introduction • MD TDOF PID -Block diagram of a Model-Driven TDOF PID control system -A designing approach -Features -Practical industrial field experiments • Conclusions

3. Introduction • PID為PD與PI結合而成的控制器，Gc(s)=Kp+KI/s+KDS。 優點:構造簡單，提供不錯的穩態誤差及相對穩定度 缺點:PID控制器的參數設計通常很困難， • MD PID:Model-Driven Control ，為了使參數調整簡單化而設計，ex:IMC(Internal Model Control) and DMC(Dynamic Matrix Control)。 特色:構造簡單、增加穩定性及強健性、參數容易調整。 • MD TDOF PID :Model-Driven Two Degrees Of Freedom PID 目的 : 減少因為干擾造成的誤差，在不穩定的狀態中依然可以使用

4. Block diagram of a Model-Driven TDOF PID control system (a)Set-point filter (b)Main controller: Gain . Q filter(second order) . Delay model with dead time(first order) (c) PD feedback compensator

5. Designing Approach • Step 1:PD feedback compensator 功能:(a) stabilize even unstable processes P(s) (b) compensate the transfer function from v to y 設計方法: 找出P(s)的轉移函數，接著調整F(s) 讓G(s)近似於

6. Designing Approach • Step 2: Main Controller (a)KC = K :Gain (b)TC = T :Time constant (c)LC = L :Dead time • Step 3: Set-point filter

7. Features • Widely applicable process controller 透過PDfeedback內各種參數的調整，可以將各種不同的程序 轉變成一階的延遲系統，因此這種PID對於各類系統的泛用性很 高。 • Two degrees of freedom characteristics 調整F 達到good tracking property without overshooting 調整Q 達到quick disturbanceregulatingproperty

8. Practical industrial field experiments • Boiler test plant (a) 傳統PID(IMC) MDTDOFPID 以IAE(絕對誤差積分準則)及settling time(安定時間)來比較，MD TDOF PID 皆優於傳統的PID

9. Practical industrial field experiments • Boiler test plant (b) 傳統PID(IMC) MDTDOFPID 很明顯的，MD TDOF PID對於干擾的靈敏度以及矯正的能力皆優於傳統的PID控制器

10. Practical industrial field experiments • Paper manufacturing plant

11. Conclusions • The MD TDOF PID control system has strong capability to stabilize by using the PD feedback. • Various types of PID control systems can be realized from the MD TDOF PID control system smoothly by setting control parameters. • Through practical industrial field experiments, practical effectiveness for the MD TDOF PID Control system such as the quick responses for both set-point tracking and disturbance regulating response are shown.

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